基于窄带物联网的巡检机器人目标跟踪控制系统设计  

Design of Target Tracking Control System for Inspection Robot Based on Narrowband Internet of Things

作　　者：申丽芳 李莹[1] SHEN Lifang;LI Ying(School of Information and Control,Shenyang Institute of Technology,Fushun 113122,China)

机构地区：[1]沈阳工学院信息与控制学院,辽宁抚顺113122

出　　处：《计算机测量与控制》2022年第4期98-102,共5页Computer Measurement &Control

基　　金：辽宁省中央引导地方科技发展资金(2021JH6/10500137);沈抚示范区本级科技计划项目(2020JH13)。

摘　　要：目前研究的巡检机器人目标跟踪控制系统存在目标位置误差大、目标跟踪控制效果差、采集的图像模糊等问题;为了解决上述问题,提出基于窄带物联网的巡检机器人目标跟踪控制系统;系统硬件以窄带物联网无线通信模块为基础,优化设计了Zigbee压力采集器、跟踪控制器和STM32主控电路,实现了巡检机器人目标跟踪控制系统的数据信息集中调度;Zigbee压力采集器主要由XBee控制模块、压力传感器两部分组成,同时设计了供电电路、晶振电路和复位电路,通过系统硬件,实现了对巡检机器人的跟踪、控制和监控,为系统提供了硬件支持;软件方面给出了系统的控制流程,设计了Zigee组网程序、嵌入式视觉处理程序和巡检机器人自主导航程序;实验结果表明,基于窄带物联网的巡检机器人目标跟踪控制系统目标位置误差平均值为0.2 m、在控制节点数量为140时,基于窄带物联网的机器人目标跟踪控制系统控制节点误差为5.9%,有效实现了巡检机器人目标快速跟踪,效果较好、图像更加清晰。Target tracking control system of inspection robot has problems such as large error oftarget position,poor effectof target tracking control,and fuzzy collected images.In order to solve the above problems,a patrol robot target tracking control system based on narrowband Internet of Things(IoT)is proposed.The system hardware is based on the narrowband IoT wireless communication module,and the Zigbee pressure collector,the central controller and the STM32 main control circuit are optimized to realize the centralized scheduling of data information of the system.The Zigbee pressure collector is mainly composed of XBee control module and pressure sensor.At the same time,the power supply circuit,crystal oscillator circuit and reset circuit are designed.Through the system hardware,the tracking,control and monitoring of the inspection robot are realized,and the hardware is provided for the system.support.In terms of software,the control flow of the system is given,and the Zigee networking program,embedded vision processing program and autonomous navigation program of the inspection robot are designed.The experimental results show that the average target position error of the inspection robot target tracking control system based on the narrowband IoT is 0.2 m.When the number of control nodes is 140,the control node error of the system is 5.9%.The fast tracking of the inspection robot target is effectively realized.

关 键 词：窄带物联网 巡检机器人 目标跟踪 Zigbee压力采集器 嵌入式视觉 

分 类 号：TN301[电子电信—物理电子学]